Point Ensemble Image and Its Difference Between 3D Point Cloud

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Hasan Sait Arslan
Hasan Sait Arslan 2015-7-27
I'm reading a paper, and there is a term called "Point Ensemble Image". Point Ensemble Image term is described as follows:
In Point Ensemble Image (denoted by E), each cell records an ensemble of the points (a set of the points) which are projected into that cell, so it can be formulated as: Ei,j = {p | p ∈ P ∧ (px, py) ∈ gi,j}, where P is the point cloud in the new coordinate system, p = (px, py, pz) is a 3D point of P, and gi,j is a cell of the grids.
This is the link to the paper as well: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6738636
Could you explain me beriefly, what Point Ensemble Image, and what is its difference between 3D Point Cloud?
Thanks,

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